collision.c

   1
   2 #include "quakedef.h"
   3 #include "polygon.h"
   4
   5 #define COLLISION_SNAPSCALE (32.0f)
   6 #define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
   7 #define COLLISION_SNAP2 (2.0f / COLLISION_SNAPSCALE)
   8 #define COLLISION_PLANE_DIST_EPSILON (2.0f / COLLISION_SNAPSCALE)
   9
  10 cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125", "how much to back off from the impact"};
  11 cvar_t collision_startnudge = {0, "collision_startnudge", "0", "how much to bias collision trace start"};
  12 cvar_t collision_endnudge = {0, "collision_endnudge", "0", "how much to bias collision trace end"};
  13 cvar_t collision_enternudge = {0, "collision_enternudge", "0", "how much to bias collision entry fraction"};
  14 cvar_t collision_leavenudge = {0, "collision_leavenudge", "0", "how much to bias collision exit fraction"};
  15
  16 void Collision_Init (void)
  17 {
  18         Cvar_RegisterVariable(&collision_impactnudge);
  19         Cvar_RegisterVariable(&collision_startnudge);
  20         Cvar_RegisterVariable(&collision_endnudge);
  21         Cvar_RegisterVariable(&collision_enternudge);
  22         Cvar_RegisterVariable(&collision_leavenudge);
  23 }
  24
  25
  26
  27
  28
  29
  30
  31
  32
  33
  34
  35
  36
  37
  38 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
  39 {
  40         int i;
  41         Con_Printf("3 %s\n%i\n", name, brush->numpoints);
  42         for (i = 0;i < brush->numpoints;i++)
  43                 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
  44         // FIXME: optimize!
  45         Con_Printf("4\n%i\n", brush->numplanes);
  46         for (i = 0;i < brush->numplanes;i++)
  47                 Con_Printf("%f %f %f %f\n", brush->planes[i].normal[0], brush->planes[i].normal[1], brush->planes[i].normal[2], brush->planes[i].dist);
  48 }
  49
  50 void Collision_ValidateBrush(colbrushf_t *brush)
  51 {
  52         int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
  53         float d;
  54         printbrush = false;
  55         if (!brush->numpoints)
  56         {
  57                 Con_Print("Collision_ValidateBrush: brush with no points!\n");
  58                 printbrush = true;
  59         }
  60 #if 0
  61         // it's ok for a brush to have one point and no planes...
  62         if (brush->numplanes == 0 && brush->numpoints != 1)
  63         {
  64                 Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
  65                 printbrush = true;
  66         }
  67 #endif
  68         if (brush->numplanes)
  69         {
  70                 pointsoffplanes = 0;
  71                 pointswithinsufficientplanes = 0;
  72                 for (k = 0;k < brush->numplanes;k++)
  73                         if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
  74                                 Con_Printf("Collision_ValidateBrush: plane #%i (%f %f %f %f) is degenerate\n", k, brush->planes[k].normal[0], brush->planes[k].normal[1], brush->planes[k].normal[2], brush->planes[k].dist);
  75                 for (j = 0;j < brush->numpoints;j++)
  76                 {
  77                         pointonplanes = 0;
  78                         for (k = 0;k < brush->numplanes;k++)
  79                         {
  80                                 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
  81                                 if (d > COLLISION_PLANE_DIST_EPSILON)
  82                                 {
  83                                         Con_Printf("Collision_ValidateBrush: point #%i (%f %f %f) infront of plane #%i (%f %f %f %f)\n", j, brush->points[j].v[0], brush->points[j].v[1], brush->points[j].v[2], k, brush->planes[k].normal[0], brush->planes[k].normal[1], brush->planes[k].normal[2], brush->planes[k].dist);
  84                                         printbrush = true;
  85                                 }
  86                                 if (fabs(d) > COLLISION_PLANE_DIST_EPSILON)
  87                                         pointsoffplanes++;
  88                                 else
  89                                         pointonplanes++;
  90                         }
  91                         if (pointonplanes < 3)
  92                                 pointswithinsufficientplanes++;
  93                 }
  94                 if (pointswithinsufficientplanes)
  95                 {
  96                         Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
  97                         printbrush = true;
  98                 }
  99                 if (pointsoffplanes == 0) // all points are on all planes
 100                 {
 101                         Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
 102                         printbrush = true;
 103                 }
 104         }
 105         if (printbrush)
 106                 Collision_PrintBrushAsQHull(brush, "unnamed");
 107 }
 108
 109 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 110 {
 111         float dist, bestdist;
 112         bestdist = DotProduct(points->v, normal);
 113         points++;
 114         while(--numpoints)
 115         {
 116                 dist = DotProduct(points->v, normal);
 117                 bestdist = min(bestdist, dist);
 118                 points++;
 119         }
 120         return bestdist;
 121 }
 122
 123 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 124 {
 125         float dist, bestdist;
 126         bestdist = DotProduct(points->v, normal);
 127         points++;
 128         while(--numpoints)
 129         {
 130                 dist = DotProduct(points->v, normal);
 131                 bestdist = max(bestdist, dist);
 132                 points++;
 133         }
 134         return bestdist;
 135 }
 136
 137
 138 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents)
 139 {
 140         // TODO: planesbuf could be replaced by a remapping table
 141         int j, k, m, w;
 142         int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
 143         double maxdist;
 144         colbrushf_t *brush;
 145         colpointf_t pointsbuf[256];
 146         colplanef_t planesbuf[256];
 147         int elementsbuf[1024];
 148         int polypointbuf[256];
 149         int pmaxpoints = 64;
 150         int pnumpoints;
 151         double p[2][3*64];
 152 #if 0
 153         // enable these if debugging to avoid seeing garbage in unused data
 154         memset(pointsbuf, 0, sizeof(pointsbuf));
 155         memset(planesbuf, 0, sizeof(planesbuf));
 156         memset(elementsbuf, 0, sizeof(elementsbuf));
 157         memset(polypointbuf, 0, sizeof(polypointbuf));
 158         memset(p, 0, sizeof(p));
 159 #endif
 160         // figure out how large a bounding box we need to properly compute this brush
 161         maxdist = 0;
 162         for (j = 0;j < numoriginalplanes;j++)
 163                 maxdist = max(maxdist, originalplanes[j].dist);
 164         // now make it large enough to enclose the entire brush, and round it off to a reasonable multiple of 1024
 165         maxdist = floor(maxdist * (4.0 / 1024.0) + 1) * 1024.0;
 166         // construct a collision brush (points, planes, and renderable mesh) from
 167         // a set of planes, this also optimizes out any unnecessary planes (ones
 168         // whose polygon is clipped away by the other planes)
 169         for (j = 0;j < numoriginalplanes;j++)
 170         {
 171                 // add the plane uniquely (no duplicates)
 172                 for (k = 0;k < numplanesbuf;k++)
 173                         if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
 174                                 break;
 175                 // if the plane is a duplicate, skip it
 176                 if (k < numplanesbuf)
 177                         continue;
 178                 // check if there are too many and skip the brush
 179                 if (numplanesbuf >= maxplanesbuf)
 180                 {
 181                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
 182                         return NULL;
 183                 }
 184
 185                 // create a large polygon from the plane
 186                 w = 0;
 187                 PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, maxdist);
 188                 pnumpoints = 4;
 189                 // clip it by all other planes
 190                 for (k = 0;k < numoriginalplanes && pnumpoints && pnumpoints <= pmaxpoints;k++)
 191                 {
 192                         // skip the plane this polygon
 193                         // (nothing happens if it is processed, this is just an optimization)
 194                         if (k != j)
 195                         {
 196                                 // we want to keep the inside of the brush plane so we flip
 197                                 // the cutting plane
 198                                 PolygonD_Divide(pnumpoints, p[w], -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, COLLISION_PLANE_DIST_EPSILON, pmaxpoints, p[!w], &pnumpoints, 0, NULL, NULL, NULL);
 199                                 w = !w;
 200                         }
 201                 }
 202                 // if nothing is left, skip it
 203                 if (pnumpoints < 3)
 204                 {
 205                         //Con_Printf("Collision_NewBrushFromPlanes: warning: polygon for plane %f %f %f %f clipped away\n", originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
 206                         continue;
 207                 }
 208
 209                 for (k = 0;k < pnumpoints;k++)
 210                 {
 211                         int l, m;
 212                         m = 0;
 213                         for (l = 0;l < numoriginalplanes;l++)
 214                                 if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < COLLISION_PLANE_DIST_EPSILON)
 215                                         m++;
 216                         if (m < 3)
 217                                 break;
 218                 }
 219                 if (k < pnumpoints)
 220                 {
 221                         Con_Printf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
 222                         //return NULL;
 223                 }
 224
 225                 // check if there are too many polygon vertices for buffer
 226                 if (pnumpoints > pmaxpoints)
 227                 {
 228                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 229                         return NULL;
 230                 }
 231
 232                 // check if there are too many triangle elements for buffer
 233                 if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
 234                 {
 235                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
 236                         return NULL;
 237                 }
 238
 239                 for (k = 0;k < pnumpoints;k++)
 240                 {
 241                         // check if there is already a matching point (no duplicates)
 242                         for (m = 0;m < numpointsbuf;m++)
 243                                 if (VectorDistance2(&p[w][k*3], pointsbuf[m].v) < COLLISION_SNAP2)
 244                                         break;
 245
 246                         // if there is no match, add a new one
 247                         if (m == numpointsbuf)
 248                         {
 249                                 // check if there are too many and skip the brush
 250                                 if (numpointsbuf >= maxpointsbuf)
 251                                 {
 252                                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 253                                         return NULL;
 254                                 }
 255                                 // add the new one
 256                                 VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
 257                                 numpointsbuf++;
 258                         }
 259
 260                         // store the index into a buffer
 261                         polypointbuf[k] = m;
 262                 }
 263
 264                 // add the triangles for the polygon
 265                 // (this particular code makes a triangle fan)
 266                 for (k = 0;k < pnumpoints - 2;k++)
 267                 {
 268                         elementsbuf[numelementsbuf++] = polypointbuf[0];
 269                         elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
 270                         elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
 271                 }
 272
 273                 // add the new plane
 274                 VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
 275                 planesbuf[numplanesbuf].dist = originalplanes[j].dist;
 276                 planesbuf[numplanesbuf].q3surfaceflags = originalplanes[j].q3surfaceflags;
 277                 planesbuf[numplanesbuf].texture = originalplanes[j].texture;
 278                 numplanesbuf++;
 279         }
 280
 281         // validate plane distances
 282         for (j = 0;j < numplanesbuf;j++)
 283         {
 284                 float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
 285                 if (fabs(planesbuf[j].dist - d) > COLLISION_PLANE_DIST_EPSILON)
 286                         Con_Printf("plane %f %f %f %f mismatches dist %f\n", planesbuf[j].normal[0], planesbuf[j].normal[1], planesbuf[j].normal[2], planesbuf[j].dist, d);
 287         }
 288
 289         // if nothing is left, there's nothing to allocate
 290         if (numelementsbuf < 12 || numplanesbuf < 4 || numpointsbuf < 4)
 291         {
 292                 Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: %i triangles, %i planes (input was %i planes), %i vertices\n", numelementsbuf / 3, numplanesbuf, numoriginalplanes, numpointsbuf);
 293                 return NULL;
 294         }
 295
 296         // allocate the brush and copy to it
 297         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
 298         brush->supercontents = supercontents;
 299         brush->numplanes = numplanesbuf;
 300         brush->numpoints = numpointsbuf;
 301         brush->numtriangles = numelementsbuf / 3;
 302         brush->planes = (colplanef_t *)(brush + 1);
 303         brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
 304         brush->elements = (int *)(brush->points + brush->numpoints);
 305         for (j = 0;j < brush->numpoints;j++)
 306         {
 307                 brush->points[j].v[0] = pointsbuf[j].v[0];
 308                 brush->points[j].v[1] = pointsbuf[j].v[1];
 309                 brush->points[j].v[2] = pointsbuf[j].v[2];
 310         }
 311         for (j = 0;j < brush->numplanes;j++)
 312         {
 313                 brush->planes[j].normal[0] = planesbuf[j].normal[0];
 314                 brush->planes[j].normal[1] = planesbuf[j].normal[1];
 315                 brush->planes[j].normal[2] = planesbuf[j].normal[2];
 316                 brush->planes[j].dist = planesbuf[j].dist;
 317                 brush->planes[j].q3surfaceflags = planesbuf[j].q3surfaceflags;
 318                 brush->planes[j].texture = planesbuf[j].texture;
 319         }
 320         for (j = 0;j < brush->numtriangles * 3;j++)
 321                 brush->elements[j] = elementsbuf[j];
 322         VectorCopy(brush->points[0].v, brush->mins);
 323         VectorCopy(brush->points[0].v, brush->maxs);
 324         for (j = 1;j < brush->numpoints;j++)
 325         {
 326                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
 327                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
 328                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
 329                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
 330                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
 331                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
 332         }
 333         brush->mins[0] -= 1;
 334         brush->mins[1] -= 1;
 335         brush->mins[2] -= 1;
 336         brush->maxs[0] += 1;
 337         brush->maxs[1] += 1;
 338         brush->maxs[2] += 1;
 339         Collision_ValidateBrush(brush);
 340         return brush;
 341 }
 342
 343
 344
 345 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
 346 {
 347         int i;
 348         float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
 349         colpointf_t *p, *p2;
 350
 351         // FIXME: these probably don't actually need to be normalized if the collision code does not care
 352         if (brush->numpoints == 3)
 353         {
 354                 // optimized triangle case
 355                 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
 356                 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
 357                 {
 358                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 359                         brush->numplanes = 0;
 360                         return;
 361                 }
 362                 else
 363                 {
 364                         brush->numplanes = 5;
 365                         VectorNormalize(brush->planes[0].normal);
 366                         brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
 367                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 368                         brush->planes[1].dist = -brush->planes[0].dist;
 369                         VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
 370                         VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
 371                         VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
 372 #if 1
 373                         {
 374                                 float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
 375                                 int i, best;
 376                                 float dist, bestdist;
 377                                 bestdist = fabs(brush->planes[0].normal[0]);
 378                                 best = 0;
 379                                 for (i = 1;i < 3;i++)
 380                                 {
 381                                         dist = fabs(brush->planes[0].normal[i]);
 382                                         if (bestdist < dist)
 383                                         {
 384                                                 bestdist = dist;
 385                                                 best = i;
 386                                         }
 387                                 }
 388                                 VectorClear(projectionnormal);
 389                                 if (brush->planes[0].normal[best] < 0)
 390                                         projectionnormal[best] = -1;
 391                                 else
 392                                         projectionnormal[best] = 1;
 393                                 VectorCopy(edge0, projectionedge0);
 394                                 VectorCopy(edge1, projectionedge1);
 395                                 VectorCopy(edge2, projectionedge2);
 396                                 projectionedge0[best] = 0;
 397                                 projectionedge1[best] = 0;
 398                                 projectionedge2[best] = 0;
 399                                 CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
 400                                 CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
 401                                 CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
 402                         }
 403 #else
 404                         CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
 405                         CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
 406                         CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
 407 #endif
 408                         VectorNormalize(brush->planes[2].normal);
 409                         VectorNormalize(brush->planes[3].normal);
 410                         VectorNormalize(brush->planes[4].normal);
 411                         brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
 412                         brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
 413                         brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
 414
 415                         if (developer.integer >= 100)
 416                         {
 417                                 // validation code
 418 #if 0
 419                                 float temp[3];
 420
 421                                 VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
 422                                 VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
 423                                 CrossProduct(edge0, edge1, normal);
 424                                 VectorNormalize(normal);
 425                                 VectorSubtract(normal, brush->planes[0].normal, temp);
 426                                 if (VectorLength(temp) > 0.01f)
 427                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: TriangleNormal gave wrong answer (%f %f %f != correct answer %f %f %f)\n", brush->planes->normal[0], brush->planes->normal[1], brush->planes->normal[2], normal[0], normal[1], normal[2]);
 428                                 if (fabs(DotProduct(brush->planes[1].normal, brush->planes[0].normal) - -1.0f) > 0.01f || fabs(brush->planes[1].dist - -brush->planes[0].dist) > 0.01f)
 429                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 1 (%f %f %f %f) is not opposite plane 0 (%f %f %f %f)\n", brush->planes[1].normal[0], brush->planes[1].normal[1], brush->planes[1].normal[2], brush->planes[1].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[0].dist);
 430 #if 0
 431                                 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
 432                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 2 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[2].dist);
 433                                 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
 434                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 3 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[3].dist);
 435                                 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
 436                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 4 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[4].dist);
 437                                 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
 438                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 2 (%f %f %f %f) is not perpendicular to edge 0 (%f %f %f to %f %f %f)\n", brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist, brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2]);
 439                                 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
 440                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 3 (%f %f %f %f) is not perpendicular to edge 1 (%f %f %f to %f %f %f)\n", brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist, brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2]);
 441                                 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
 442                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 4 (%f %f %f %f) is not perpendicular to edge 2 (%f %f %f to %f %f %f)\n", brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist, brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2]);
 443 #endif
 444 #endif
 445                                 if (fabs(DotProduct(brush->points[0].v, brush->planes[0].normal) - brush->planes[0].dist) > 0.01f || fabs(DotProduct(brush->points[1].v, brush->planes[0].normal) - brush->planes[0].dist) > 0.01f || fabs(DotProduct(brush->points[2].v, brush->planes[0].normal) - brush->planes[0].dist) > 0.01f)
 446                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edges (%f %f %f to %f %f %f to %f %f %f) off front plane 0 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[0].dist);
 447                                 if (fabs(DotProduct(brush->points[0].v, brush->planes[1].normal) - brush->planes[1].dist) > 0.01f || fabs(DotProduct(brush->points[1].v, brush->planes[1].normal) - brush->planes[1].dist) > 0.01f || fabs(DotProduct(brush->points[2].v, brush->planes[1].normal) - brush->planes[1].dist) > 0.01f)
 448                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edges (%f %f %f to %f %f %f to %f %f %f) off back plane 1 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[1].normal[0], brush->planes[1].normal[1], brush->planes[1].normal[2], brush->planes[1].dist);
 449                                 if (fabs(DotProduct(brush->points[2].v, brush->planes[2].normal) - brush->planes[2].dist) > 0.01f || fabs(DotProduct(brush->points[0].v, brush->planes[2].normal) - brush->planes[2].dist) > 0.01f)
 450                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist);
 451                                 if (fabs(DotProduct(brush->points[0].v, brush->planes[3].normal) - brush->planes[3].dist) > 0.01f || fabs(DotProduct(brush->points[1].v, brush->planes[3].normal) - brush->planes[3].dist) > 0.01f)
 452                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist);
 453                                 if (fabs(DotProduct(brush->points[1].v, brush->planes[4].normal) - brush->planes[4].dist) > 0.01f || fabs(DotProduct(brush->points[2].v, brush->planes[4].normal) - brush->planes[4].dist) > 0.01f)
 454                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist);
 455                         }
 456                 }
 457         }
 458         else
 459         {
 460                 // choose best surface normal for polygon's plane
 461                 bestdist = 0;
 462                 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
 463                 {
 464                         VectorSubtract(p[-1].v, p[0].v, edge0);
 465                         VectorSubtract(p[1].v, p[0].v, edge1);
 466                         CrossProduct(edge0, edge1, normal);
 467                         //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
 468                         dist = DotProduct(normal, normal);
 469                         if (i == 0 || bestdist < dist)
 470                         {
 471                                 bestdist = dist;
 472                                 VectorCopy(normal, brush->planes->normal);
 473                         }
 474                 }
 475                 if (bestdist < 0.0001f)
 476                 {
 477                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 478                         brush->numplanes = 0;
 479                         return;
 480                 }
 481                 else
 482                 {
 483                         brush->numplanes = brush->numpoints + 2;
 484                         VectorNormalize(brush->planes->normal);
 485                         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
 486
 487                         // negate plane to create other side
 488                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 489                         brush->planes[1].dist = -brush->planes[0].dist;
 490                         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
 491                         {
 492                                 VectorSubtract(p->v, p2->v, edge0);
 493                                 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
 494                                 VectorNormalize(brush->planes[i + 2].normal);
 495                                 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
 496                         }
 497                 }
 498         }
 499
 500         if (developer.integer >= 100)
 501         {
 502                 // validity check - will be disabled later
 503                 Collision_ValidateBrush(brush);
 504                 for (i = 0;i < brush->numplanes;i++)
 505                 {
 506                         int j;
 507                         for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
 508                                 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + COLLISION_PLANE_DIST_EPSILON)
 509                                         Con_Printf("Error in brush plane generation, plane %i\n", i);
 510                 }
 511         }
 512 }
 513
 514 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
 515 {
 516         colbrushf_t *brush;
 517         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
 518         brush->supercontents = supercontents;
 519         brush->numpoints = numpoints;
 520         brush->numplanes = numpoints + 2;
 521         brush->planes = (colplanef_t *)(brush + 1);
 522         brush->points = (colpointf_t *)points;
 523         Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...");
 524         return brush;
 525 }
 526
 527 // NOTE: start and end of each brush pair must have same numplanes/numpoints
 528 void Collision_TraceBrushBrushFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
 529 {
 530         int nplane, nplane2, fstartsolid = true, fendsolid = true, brushsolid, hitq3surfaceflags = 0;
 531         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
 532         const colplanef_t *startplane, *endplane;
 533         texture_t *hittexture = NULL;
 534
 535         VectorClear(newimpactnormal);
 536
 537         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
 538         {
 539                 nplane2 = nplane;
 540                 if (nplane2 >= thatbrush_start->numplanes)
 541                 {
 542                         nplane2 -= thatbrush_start->numplanes;
 543                         startplane = thisbrush_start->planes + nplane2;
 544                         endplane = thisbrush_end->planes + nplane2;
 545                         if (developer.integer >= 100)
 546                         {
 547                                 // any brush with degenerate planes is not worth handling
 548                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 549                                 {
 550                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
 551                                         return;
 552                                 }
 553                                 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
 554                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
 555                                         Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
 556                         }
 557                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
 558                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
 559                 }
 560                 else
 561                 {
 562                         startplane = thatbrush_start->planes + nplane2;
 563                         endplane = thatbrush_end->planes + nplane2;
 564                         if (developer.integer >= 100)
 565                         {
 566                                 // any brush with degenerate planes is not worth handling
 567                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 568                                 {
 569                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
 570                                         return;
 571                                 }
 572                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 573                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
 574                                         Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
 575                         }
 576                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
 577                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
 578                 }
 579                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 580
 581                 if(d1 > d2)
 582                 {
 583                         // moving into brush
 584                         if(d2 > 0)
 585                                 return;
 586                         if(d1 > 0)
 587                         {
 588                                 // enter
 589                                 fstartsolid = false;
 590                                 imove = 1 / (d1 - d2);
 591                                 f = (d1 - collision_enternudge.value) * imove;
 592                                 if (enterfrac < f)
 593                                 {
 594                                         enterfrac = f;
 595                                         enterfrac2 = f - collision_impactnudge.value * imove;
 596                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 597                                         hitq3surfaceflags = startplane->q3surfaceflags;
 598                                         hittexture = startplane->texture;
 599                                 }
 600                         }
 601                 }
 602                 else
 603                 {
 604                         // moving out of brush
 605                         if(d1 > 0)
 606                                 return;
 607                         if(d2 > 0)
 608                         {
 609                                 // leave
 610                                 fendsolid = false;
 611                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
 612                                 if (leavefrac > f)
 613                                         leavefrac = f;
 614                         }
 615                 }
 616         }
 617
 618         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 619         if (fstartsolid)
 620         {
 621                 trace->startsupercontents |= thatbrush_start->supercontents;
 622                 if (brushsolid)
 623                 {
 624                         trace->startsolid = true;
 625                         if (fendsolid)
 626                                 trace->allsolid = true;
 627                 }
 628         }
 629
 630         // LordHavoc: we need an epsilon nudge here because for a point trace the
 631         // penetrating line segment is normally zero length if this brush was
 632         // generated from a polygon (infinitely thin), and could even be slightly
 633         // positive or negative due to rounding errors in that case.
 634         if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 635         {
 636 #if 0
 637                 // broken
 638                 if (thatbrush_start->ispolygon)
 639                 {
 640                         d1 = nearestplanedist_float(thatbrush_start->planes[0].normal, thisbrush_start->points, thisbrush_start->numpoints) - thatbrush_start->planes[0].dist - collision_startnudge.value;
 641                         d2 = nearestplanedist_float(thatbrush_end->planes[0].normal, thisbrush_end->points, thisbrush_end->numpoints) - thatbrush_end->planes[0].dist - collision_endnudge.value;
 642                         move = d1 - d2;
 643                         if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
 644                                 return;
 645                         // enter
 646                         imove = 1 / move;
 647                         enterfrac = (d1 - collision_enternudge.value) * imove;
 648                         if (enterfrac < trace->realfraction)
 649                         {
 650                                 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
 651                                 trace->hitsupercontents = thatbrush_start->supercontents;
 652                                 trace->hitq3surfaceflags = thatbrush_start->planes[0].q3surfaceflags;
 653                                 trace->hittexture = thatbrush_start->planes[0].texture;
 654                                 trace->realfraction = bound(0, enterfrac, 1);
 655                                 trace->fraction = bound(0, enterfrac2, 1);
 656                                 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
 657                         }
 658                 }
 659                 else
 660 #endif
 661                 {
 662                         trace->hitsupercontents = thatbrush_start->supercontents;
 663                         trace->hitq3surfaceflags = hitq3surfaceflags;
 664                         trace->hittexture = hittexture;
 665                         trace->realfraction = bound(0, enterfrac, 1);
 666                         trace->fraction = bound(0, enterfrac2, 1);
 667                         VectorCopy(newimpactnormal, trace->plane.normal);
 668                 }
 669         }
 670 }
 671
 672 // NOTE: start and end brush pair must have same numplanes/numpoints
 673 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
 674 {
 675         int nplane, fstartsolid = true, fendsolid = true, brushsolid, hitq3surfaceflags = 0;
 676         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
 677         const colplanef_t *startplane, *endplane;
 678         texture_t *hittexture = NULL;
 679
 680         VectorClear(newimpactnormal);
 681
 682         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 683         {
 684                 startplane = thatbrush_start->planes + nplane;
 685                 endplane = thatbrush_end->planes + nplane;
 686                 d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
 687                 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
 688                 if (developer.integer >= 100)
 689                 {
 690                         // any brush with degenerate planes is not worth handling
 691                         if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 692                         {
 693                                 Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
 694                                 return;
 695                         }
 696                         if (thatbrush_start->numpoints)
 697                         {
 698                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 699                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
 700                                         Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
 701                         }
 702                 }
 703
 704                 if (d1 > d2)
 705                 {
 706                         // moving into brush
 707                         if (d2 > 0)
 708                                 return;
 709                         if (d1 > 0)
 710                         {
 711                                 // enter
 712                                 fstartsolid = false;
 713                                 imove = 1 / (d1 - d2);
 714                                 f = (d1 - collision_enternudge.value) * imove;
 715                                 if (enterfrac < f)
 716                                 {
 717                                         enterfrac = f;
 718                                         enterfrac2 = f - collision_impactnudge.value * imove;
 719                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 720                                         hitq3surfaceflags = startplane->q3surfaceflags;
 721                                         hittexture = startplane->texture;
 722                                 }
 723                         }
 724                 }
 725                 else
 726                 {
 727                         // moving out of brush
 728                         if (d1 > 0)
 729                                 return;
 730                         if (d2 > 0)
 731                         {
 732                                 // leave
 733                                 fendsolid = false;
 734                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
 735                                 if (leavefrac > f)
 736                                         leavefrac = f;
 737                         }
 738                 }
 739         }
 740
 741         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 742         if (fstartsolid)
 743         {
 744                 trace->startsupercontents |= thatbrush_start->supercontents;
 745                 if (brushsolid)
 746                 {
 747                         trace->startsolid = true;
 748                         if (fendsolid)
 749                                 trace->allsolid = true;
 750                 }
 751         }
 752
 753         // LordHavoc: we need an epsilon nudge here because for a point trace the
 754         // penetrating line segment is normally zero length if this brush was
 755         // generated from a polygon (infinitely thin), and could even be slightly
 756         // positive or negative due to rounding errors in that case.
 757         if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac <= leavefrac)
 758         {
 759 #if 0
 760                 // broken
 761                 if (thatbrush_start->ispolygon)
 762                 {
 763                         d1 = DotProduct(thatbrush_start->planes[0].normal, linestart) - thatbrush_start->planes[0].dist - collision_startnudge.value;
 764                         d2 = DotProduct(thatbrush_end->planes[0].normal, lineend) - thatbrush_end->planes[0].dist - collision_endnudge.value;
 765                         move = d1 - d2;
 766                         if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
 767                                 return;
 768                         // enter
 769                         imove = 1 / move;
 770                         enterfrac = (d1 - collision_enternudge.value) * imove;
 771                         if (enterfrac < trace->realfraction)
 772                         {
 773                                 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
 774                                 trace->hitsupercontents = thatbrush_start->supercontents;
 775                                 trace->hitq3surfaceflags = hitq3surfaceflags;
 776                                 trace->hittexture = hittexture;
 777                                 trace->realfraction = bound(0, enterfrac, 1);
 778                                 trace->fraction = bound(0, enterfrac2, 1);
 779                                 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
 780                         }
 781                 }
 782                 else
 783 #endif
 784                 {
 785                         trace->hitsupercontents = thatbrush_start->supercontents;
 786                         trace->hitq3surfaceflags = hitq3surfaceflags;
 787                         trace->hittexture = hittexture;
 788                         trace->realfraction = bound(0, enterfrac, 1);
 789                         trace->fraction = bound(0, enterfrac2, 1);
 790                         VectorCopy(newimpactnormal, trace->plane.normal);
 791                 }
 792         }
 793 }
 794
 795 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
 796 {
 797         int nplane;
 798         const colplanef_t *plane;
 799
 800         for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
 801                 if (DotProduct(plane->normal, point) > plane->dist)
 802                         return;
 803
 804         trace->startsupercontents |= thatbrush->supercontents;
 805         if (trace->hitsupercontentsmask & thatbrush->supercontents)
 806         {
 807                 trace->startsolid = true;
 808                 trace->allsolid = true;
 809         }
 810 }
 811
 812 static colpointf_t polyf_points[256];
 813 static colplanef_t polyf_planes[256 + 2];
 814 static colbrushf_t polyf_brush;
 815
 816 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
 817 {
 818         while (numpoints--)
 819         {
 820                 out->v[0] = floor(in->v[0] * fractionprecision + 0.5f) * invfractionprecision;
 821                 out->v[1] = floor(in->v[1] * fractionprecision + 0.5f) * invfractionprecision;
 822                 out->v[2] = floor(in->v[2] * fractionprecision + 0.5f) * invfractionprecision;
 823         }
 824 }
 825
 826 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
 827 {
 828         if (numpoints > 256)
 829         {
 830                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 831                 return;
 832         }
 833         polyf_brush.numpoints = numpoints;
 834         polyf_brush.numplanes = numpoints + 2;
 835         //polyf_brush.points = (colpointf_t *)points;
 836         polyf_brush.planes = polyf_planes;
 837         polyf_brush.supercontents = supercontents;
 838         polyf_brush.points = polyf_points;
 839         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 840         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 841         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 842         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 843 }
 844
 845 void Collision_TraceBrushTriangleMeshFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, int q3surfaceflags, texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
 846 {
 847         int i;
 848         float facemins[3], facemaxs[3];
 849         polyf_brush.numpoints = 3;
 850         polyf_brush.numplanes = 5;
 851         polyf_brush.points = polyf_points;
 852         polyf_brush.planes = polyf_planes;
 853         polyf_brush.supercontents = supercontents;
 854         for (i = 0;i < polyf_brush.numplanes;i++)
 855         {
 856                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
 857                 polyf_brush.planes[i].texture = texture;
 858         }
 859         for (i = 0;i < numtriangles;i++, element3i += 3)
 860         {
 861                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 862                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 863                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 864                 Collision_SnapCopyPoints(3, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 865                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 866                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 867                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 868                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 869                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 870                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 871                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 872                 {
 873                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 874                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 875                         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 876                 }
 877         }
 878 }
 879
 880 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
 881 {
 882         if (numpoints > 256)
 883         {
 884                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 885                 return;
 886         }
 887         polyf_brush.numpoints = numpoints;
 888         polyf_brush.numplanes = numpoints + 2;
 889         //polyf_brush.points = (colpointf_t *)points;
 890         polyf_brush.points = polyf_points;
 891         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 892         polyf_brush.planes = polyf_planes;
 893         polyf_brush.supercontents = supercontents;
 894         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 895         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 896         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 897 }
 898
 899 void Collision_TraceLineTriangleMeshFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, int q3surfaceflags, texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
 900 {
 901         int i;
 902 #if 1
 903         // FIXME: snap vertices?
 904         for (i = 0;i < numtriangles;i++, element3i += 3)
 905                 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3, supercontents, q3surfaceflags, texture);
 906 #else
 907         polyf_brush.numpoints = 3;
 908         polyf_brush.numplanes = 5;
 909         polyf_brush.points = polyf_points;
 910         polyf_brush.planes = polyf_planes;
 911         polyf_brush.supercontents = supercontents;
 912         for (i = 0;i < polyf_brush.numplanes;i++)
 913         {
 914                 polyf_brush.planes[i].supercontents = supercontents;
 915                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
 916                 polyf_brush.planes[i].texture = texture;
 917         }
 918         for (i = 0;i < numtriangles;i++, element3i += 3)
 919         {
 920                 float facemins[3], facemaxs[3];
 921                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 922                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 923                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 924                 Collision_SnapCopyPoints(numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 925                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 926                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 927                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 928                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 929                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 930                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 931                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 932                 {
 933                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 934                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 935                         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 936                 }
 937         }
 938 #endif
 939 }
 940
 941
 942 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
 943 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
 944 static colbrushf_t polyf_brushstart, polyf_brushend;
 945
 946 void Collision_TraceBrushPolygonTransformFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, const matrix4x4_t *polygonmatrixstart, const matrix4x4_t *polygonmatrixend, int supercontents, int q3surfaceflags, texture_t *texture)
 947 {
 948         int i;
 949         if (numpoints > 256)
 950         {
 951                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 952                 return;
 953         }
 954         polyf_brushstart.numpoints = numpoints;
 955         polyf_brushstart.numplanes = numpoints + 2;
 956         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
 957         polyf_brushstart.planes = polyf_planesstart;
 958         polyf_brushstart.supercontents = supercontents;
 959         for (i = 0;i < numpoints;i++)
 960                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
 961         polyf_brushend.numpoints = numpoints;
 962         polyf_brushend.numplanes = numpoints + 2;
 963         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
 964         polyf_brushend.planes = polyf_planesend;
 965         polyf_brushend.supercontents = supercontents;
 966         for (i = 0;i < numpoints;i++)
 967                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
 968         for (i = 0;i < polyf_brushstart.numplanes;i++)
 969         {
 970                 polyf_brushstart.planes[i].q3surfaceflags = q3surfaceflags;
 971                 polyf_brushstart.planes[i].texture = texture;
 972         }
 973         Collision_SnapCopyPoints(numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
 974         Collision_SnapCopyPoints(numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
 975         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
 976         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
 977
 978         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
 979         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
 980
 981         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
 982 }
 983
 984
 985
 986 #define MAX_BRUSHFORBOX 16
 987 static int brushforbox_index = 0;
 988 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
 989 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
 990 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
 991 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
 992
 993 void Collision_InitBrushForBox(void)
 994 {
 995         int i;
 996         for (i = 0;i < MAX_BRUSHFORBOX;i++)
 997         {
 998                 brushforbox_brush[i].numpoints = 8;
 999                 brushforbox_brush[i].numplanes = 6;
1000                 brushforbox_brush[i].points = brushforbox_point + i * 8;
1001                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1002                 brushforpoint_brush[i].numpoints = 1;
1003                 brushforpoint_brush[i].numplanes = 0;
1004                 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1005                 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1006         }
1007 }
1008
1009 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, texture_t *texture)
1010 {
1011         int i, j;
1012         vec3_t v;
1013         colbrushf_t *brush;
1014         if (brushforbox_brush[0].numpoints == 0)
1015                 Collision_InitBrushForBox();
1016         // FIXME: these probably don't actually need to be normalized if the collision code does not care
1017         if (VectorCompare(mins, maxs))
1018         {
1019                 // point brush
1020                 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1021                 VectorCopy(mins, brush->points->v);
1022         }
1023         else
1024         {
1025                 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1026                 // FIXME: optimize
1027                 for (i = 0;i < 8;i++)
1028                 {
1029                         v[0] = i & 1 ? maxs[0] : mins[0];
1030                         v[1] = i & 2 ? maxs[1] : mins[1];
1031                         v[2] = i & 4 ? maxs[2] : mins[2];
1032                         Matrix4x4_Transform(matrix, v, brush->points[i].v);
1033                 }
1034                 // FIXME: optimize!
1035                 for (i = 0;i < 6;i++)
1036                 {
1037                         VectorClear(v);
1038                         v[i >> 1] = i & 1 ? 1 : -1;
1039                         Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1040                         VectorNormalize(brush->planes[i].normal);
1041                 }
1042         }
1043         brush->supercontents = supercontents;
1044         for (j = 0;j < brush->numplanes;j++)
1045         {
1046                 brush->planes[j].q3surfaceflags = q3surfaceflags;
1047                 brush->planes[j].texture = texture;
1048                 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
1049         }
1050         VectorCopy(brush->points[0].v, brush->mins);
1051         VectorCopy(brush->points[0].v, brush->maxs);
1052         for (j = 1;j < brush->numpoints;j++)
1053         {
1054                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
1055                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
1056                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
1057                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
1058                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
1059                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
1060         }
1061         brush->mins[0] -= 1;
1062         brush->mins[1] -= 1;
1063         brush->mins[2] -= 1;
1064         brush->maxs[0] += 1;
1065         brush->maxs[1] += 1;
1066         brush->maxs[2] += 1;
1067         Collision_ValidateBrush(brush);
1068         return brush;
1069 }
1070
1071 void Collision_ClipTrace_BrushBox(trace_t *trace, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask, int supercontents, int q3surfaceflags, texture_t *texture)
1072 {
1073         colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1074         vec3_t startmins, startmaxs, endmins, endmaxs;
1075
1076         // create brushes for the collision
1077         VectorAdd(start, mins, startmins);
1078         VectorAdd(start, maxs, startmaxs);
1079         VectorAdd(end, mins, endmins);
1080         VectorAdd(end, maxs, endmaxs);
1081         boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs, supercontents, q3surfaceflags, texture);
1082         thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs, 0, 0, NULL);
1083         thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs, 0, 0, NULL);
1084
1085         memset(trace, 0, sizeof(trace_t));
1086         trace->hitsupercontentsmask = hitsupercontentsmask;
1087         trace->fraction = 1;
1088         trace->realfraction = 1;
1089         trace->allsolid = true;
1090         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1091 }
1092
1093 //pseudocode for detecting line/sphere overlap without calculating an impact point
1094 //linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
1095
1096 // LordHavoc: currently unused, but tested
1097 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1098 // by simply adding the moving sphere's radius to the sphereradius parameter,
1099 // all the results are correct (impactpoint, impactnormal, and fraction)
1100 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1101 {
1102         double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1103         // make sure the impactpoint and impactnormal are valid even if there is
1104         // no collision
1105         VectorCopy(lineend, impactpoint);
1106         VectorClear(impactnormal);
1107         // calculate line direction
1108         VectorSubtract(lineend, linestart, dir);
1109         // normalize direction
1110         linelength = VectorLength(dir);
1111         if (linelength)
1112         {
1113                 scale = 1.0 / linelength;
1114                 VectorScale(dir, scale, dir);
1115         }
1116         // this dotproduct calculates the distance along the line at which the
1117         // sphere origin is (nearest point to the sphere origin on the line)
1118         impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
1119         // calculate point on line at that distance, and subtract the
1120         // sphereorigin from it, so we have a vector to measure for the distance
1121         // of the line from the sphereorigin (deviation, how off-center it is)
1122         VectorMA(linestart, impactdist, dir, v);
1123         VectorSubtract(v, sphereorigin, v);
1124         deviationdist = VectorLength2(v);
1125         // if outside the radius, it's a miss for sure
1126         // (we do this comparison using squared radius to avoid a sqrt)
1127         if (deviationdist > sphereradius*sphereradius)
1128                 return 1; // miss (off to the side)
1129         // nudge back to find the correct impact distance
1130         impactdist += deviationdist - sphereradius;
1131         if (impactdist >= linelength)
1132                 return 1; // miss (not close enough)
1133         if (impactdist < 0)
1134                 return 1; // miss (linestart is past or inside sphere)
1135         // calculate new impactpoint
1136         VectorMA(linestart, impactdist, dir, impactpoint);
1137         // calculate impactnormal (surface normal at point of impact)
1138         VectorSubtract(impactpoint, sphereorigin, impactnormal);
1139         // normalize impactnormal
1140         VectorNormalize(impactnormal);
1141         // return fraction of movement distance
1142         return impactdist / linelength;
1143 }
1144
1145 void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const float *point0, const float *point1, const float *point2, int supercontents, int q3surfaceflags, texture_t *texture)
1146 {
1147 #if 1
1148         // more optimized
1149         float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
1150
1151         // this function executes:
1152         // 32 ops when line starts behind triangle
1153         // 38 ops when line ends infront of triangle
1154         // 43 ops when line fraction is already closer than this triangle
1155         // 72 ops when line is outside edge 01
1156         // 92 ops when line is outside edge 21
1157         // 115 ops when line is outside edge 02
1158         // 123 ops when line impacts triangle and updates trace results
1159
1160         // this code is designed for clockwise triangles, conversion to
1161         // counterclockwise would require swapping some things around...
1162         // it is easier to simply swap the point0 and point2 parameters to this
1163         // function when calling it than it is to rewire the internals.
1164
1165         // calculate the faceplanenormal of the triangle, this represents the front side
1166         // 15 ops
1167         VectorSubtract(point0, point1, edge01);
1168         VectorSubtract(point2, point1, edge21);
1169         CrossProduct(edge01, edge21, faceplanenormal);
1170         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1171         // 6 ops
1172         faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
1173         if (faceplanenormallength2 < 0.0001f)
1174                 return;
1175         // calculate the distance
1176         // 5 ops
1177         faceplanedist = DotProduct(point0, faceplanenormal);
1178
1179         // if start point is on the back side there is no collision
1180         // (we don't care about traces going through the triangle the wrong way)
1181
1182         // calculate the start distance
1183         // 6 ops
1184         d1 = DotProduct(faceplanenormal, linestart);
1185         if (d1 <= faceplanedist)
1186                 return;
1187
1188         // calculate the end distance
1189         // 6 ops
1190         d2 = DotProduct(faceplanenormal, lineend);
1191         // if both are in front, there is no collision
1192         if (d2 >= faceplanedist)
1193                 return;
1194
1195         // from here on we know d1 is >= 0 and d2 is < 0
1196         // this means the line starts infront and ends behind, passing through it
1197
1198         // calculate the recipricol of the distance delta,
1199         // so we can use it multiple times cheaply (instead of division)
1200         // 2 ops
1201         d = 1.0f / (d1 - d2);
1202         // calculate the impact fraction by taking the start distance (> 0)
1203         // and subtracting the face plane distance (this is the distance of the
1204         // triangle along that same normal)
1205         // then multiply by the recipricol distance delta
1206         // 2 ops
1207         f = (d1 - faceplanedist) * d;
1208         // skip out if this impact is further away than previous ones
1209         // 1 ops
1210         if (f > trace->realfraction)
1211                 return;
1212         // calculate the perfect impact point for classification of insidedness
1213         // 9 ops
1214         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1215         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1216         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1217
1218         // calculate the edge normal and reject if impact is outside triangle
1219         // (an edge normal faces away from the triangle, to get the desired normal
1220         //  a crossproduct with the faceplanenormal is used, and because of the way
1221         // the insidedness comparison is written it does not need to be normalized)
1222
1223         // first use the two edges from the triangle plane math
1224         // the other edge only gets calculated if the point survives that long
1225
1226         // 20 ops
1227         CrossProduct(edge01, faceplanenormal, edgenormal);
1228         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1229                 return;
1230
1231         // 20 ops
1232         CrossProduct(faceplanenormal, edge21, edgenormal);
1233         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1234                 return;
1235
1236         // 23 ops
1237         VectorSubtract(point0, point2, edge02);
1238         CrossProduct(faceplanenormal, edge02, edgenormal);
1239         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1240                 return;
1241
1242         // 8 ops (rare)
1243
1244         // store the new trace fraction
1245         trace->realfraction = f;
1246
1247         // calculate a nudged fraction to keep it out of the surface
1248         // (the main fraction remains perfect)
1249         trace->fraction = f - collision_impactnudge.value * d;
1250
1251         // store the new trace plane (because collisions only happen from
1252         // the front this is always simply the triangle normal, never flipped)
1253         d = 1.0 / sqrt(faceplanenormallength2);
1254         VectorScale(faceplanenormal, d, trace->plane.normal);
1255         trace->plane.dist = faceplanedist * d;
1256
1257         trace->hitsupercontents = supercontents;
1258         trace->hitq3surfaceflags = q3surfaceflags;
1259         trace->hittexture = texture;
1260 #else
1261         float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1262
1263         // this code is designed for clockwise triangles, conversion to
1264         // counterclockwise would require swapping some things around...
1265         // it is easier to simply swap the point0 and point2 parameters to this
1266         // function when calling it than it is to rewire the internals.
1267
1268         // calculate the unnormalized faceplanenormal of the triangle,
1269         // this represents the front side
1270         TriangleNormal(point0, point1, point2, faceplanenormal);
1271         // there's no point in processing a degenerate triangle
1272         // (GIGO - Garbage In, Garbage Out)
1273         if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1274                 return;
1275         // calculate the unnormalized distance
1276         faceplanedist = DotProduct(point0, faceplanenormal);
1277
1278         // calculate the unnormalized start distance
1279         d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1280         // if start point is on the back side there is no collision
1281         // (we don't care about traces going through the triangle the wrong way)
1282         if (d1 <= 0)
1283                 return;
1284
1285         // calculate the unnormalized end distance
1286         d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1287         // if both are in front, there is no collision
1288         if (d2 >= 0)
1289                 return;
1290
1291         // from here on we know d1 is >= 0 and d2 is < 0
1292         // this means the line starts infront and ends behind, passing through it
1293
1294         // calculate the recipricol of the distance delta,
1295         // so we can use it multiple times cheaply (instead of division)
1296         d = 1.0f / (d1 - d2);
1297         // calculate the impact fraction by taking the start distance (> 0)
1298         // and subtracting the face plane distance (this is the distance of the
1299         // triangle along that same normal)
1300         // then multiply by the recipricol distance delta
1301         f = d1 * d;
1302         // skip out if this impact is further away than previous ones
1303         if (f > trace->realfraction)
1304                 return;
1305         // calculate the perfect impact point for classification of insidedness
1306         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1307         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1308         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1309
1310         // calculate the edge normal and reject if impact is outside triangle
1311         // (an edge normal faces away from the triangle, to get the desired normal
1312         //  a crossproduct with the faceplanenormal is used, and because of the way
1313         // the insidedness comparison is written it does not need to be normalized)
1314
1315         VectorSubtract(point2, point0, edge);
1316         CrossProduct(edge, faceplanenormal, edgenormal);
1317         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1318                 return;
1319
1320         VectorSubtract(point0, point1, edge);
1321         CrossProduct(edge, faceplanenormal, edgenormal);
1322         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1323                 return;
1324
1325         VectorSubtract(point1, point2, edge);
1326         CrossProduct(edge, faceplanenormal, edgenormal);
1327         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1328                 return;
1329
1330         // store the new trace fraction
1331         trace->realfraction = bound(0, f, 1);
1332
1333         // store the new trace plane (because collisions only happen from
1334         // the front this is always simply the triangle normal, never flipped)
1335         VectorNormalize(faceplanenormal);
1336         VectorCopy(faceplanenormal, trace->plane.normal);
1337         trace->plane.dist = DotProduct(point0, faceplanenormal);
1338
1339         // calculate the normalized start and end distances
1340         d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
1341         d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
1342
1343         // calculate a nudged fraction to keep it out of the surface
1344         // (the main fraction remains perfect)
1345         fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
1346         trace->fraction = bound(0, fnudged, 1);
1347
1348         // store the new trace endpos
1349         // not needed, it's calculated later when the trace is finished
1350         //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1351         //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1352         //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1353         trace->hitsupercontents = supercontents;
1354         trace->hitq3surfaceflags = q3surfaceflags;
1355         trace->hittexture = texture;
1356 #endif
1357 }
1358
1359 typedef struct colbspnode_s
1360 {
1361         mplane_t plane;
1362         struct colbspnode_s *children[2];
1363         // the node is reallocated or split if max is reached
1364         int numcolbrushf;
1365         int maxcolbrushf;
1366         colbrushf_t **colbrushflist;
1367         //int numcolbrushd;
1368         //int maxcolbrushd;
1369         //colbrushd_t **colbrushdlist;
1370 }
1371 colbspnode_t;
1372
1373 typedef struct colbsp_s
1374 {
1375         mempool_t *mempool;
1376         colbspnode_t *nodes;
1377 }
1378 colbsp_t;
1379
1380 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1381 {
1382         colbsp_t *bsp;
1383         bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
1384         bsp->mempool = mempool;
1385         bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1386         return bsp;
1387 }
1388
1389 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1390 {
1391         if (node->children[0])
1392                 Collision_FreeCollisionBSPNode(node->children[0]);
1393         if (node->children[1])
1394                 Collision_FreeCollisionBSPNode(node->children[1]);
1395         while (--node->numcolbrushf)
1396                 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1397         //while (--node->numcolbrushd)
1398         //      Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1399         Mem_Free(node);
1400 }
1401
1402 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1403 {
1404         Collision_FreeCollisionBSPNode(bsp->nodes);
1405         Mem_Free(bsp);
1406 }
1407
1408 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1409 {
1410         int i;
1411         colpointf_t *ps, *pe;
1412         float tempstart[3], tempend[3];
1413         VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1414         VectorCopy(mins, maxs);
1415         for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1416         {
1417                 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1418                 VectorLerp(ps->v, endfrac, pe->v, tempend);
1419                 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1420                 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1421                 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1422                 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1423                 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1424                 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1425         }
1426         mins[0] -= 1;
1427         mins[1] -= 1;
1428         mins[2] -= 1;
1429         maxs[0] += 1;
1430         maxs[1] += 1;
1431         maxs[2] += 1;
1432 }
1433